Automatic Turning Balance Control Method for Non Coaxial Two Wheeled Robots Based on SVM Data Filtering
Non coaxial two-wheeled robots are prone to instability during turning due to the non collinear and non parallel con-struction of their wheel axes.In order to improve the control performance of robots in complex environments,an automatic balance control method for non coaxial two wheeled robot turning based on support vector machine(SVM)data filtering is studied.Switch the status of robot sensor nodes and define sensor anchors to achieve the transformation and decomposition of robot turning motion data.By selecting the SVM filtering parameters and analyzing the odd even model of robot motion behavior under these conditions,the cou-pling reconstruction of sensor data is implemented,and the SVM coupling filtering processing of robot sensor data is completed.Ana-lyze the gait pattern of the two wheeled robot's foot end,calculate the turning trajectory by the non coaxial planning principle of the turning foot end gait,derive the specific control function expression,and complete the design of the automatic balance control method for non coaxial two wheeled robot turning under the coupling filtering of the sensor data SVM.Experimental results show that based on the above method,the pitch angle,roll angle,and yaw angle can be controlled within a reasonable numerical range,effectively en-suring the motion balance of the robot during turning.
万方数据
维普
